Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Constitutive model and failure criterion for orthotropic ceramic matrix composites under macroscopic plane stress

To predict the nonlinear stress-strain behavior and the rupture strength of orthotropic ceramic matrix composites (CMCs) under macroscopic plane stress, a concise damage-based mechanical theory including a new constitutive model and two kinds of failure criteria was developed in the framework of continuum damage mechanics (CDM). The damage constitutive model was established using strain partitioning and damage decoupling methods. Meanwhile, the failure criteria were formulated in terms of damage energy release rate (DERR) in order to correlate the failure property of CMCs with damage driving forces, and the maximum DERR criterion and the interactive DERR criterion were suggested simultaneously. For the sake of model evaluation, the theory was applied to a typical CMC with damageable and nonlinear behavior, that is, 2D-C/SiC. The damage evolution law, strain response and rupture strength under incremental cyclic tension along both on-axis and off-axis directions were completely investigated. Comparison between theoretical predictions and experimental data illustrates that the newly developed mechanical theory is potential to give reasonable and accurate results of both stress-strain response and failure property for orthotropic CMCs.     

圆形截面柱的振动台试验及分析

进行了圆柱振动台试验,对模型的加速度反应数据进行获取。试验表明,随着地震的加速度峰值的不断增加,圆柱顶部加速度极值不断增加。柱顶的加速度响应有着增大的趋势,且极值比输入的加速度的极值有一定的放大。     

Experimental investigation and numerical modelling of density-driven segregation in an annular shear cell

Granular materials segregate spontaneously due to differences in particle size, shape, density and flow behaviour. In this paper we experimentally investigate density-difference-driven segregation for a range of density ratios and a range of heavy particle concentrations. The experiments are conducted in an annular shear cell with rotating bumpy bottom that yields an exponential shear profile. The cell is initially filled with a layer of light particles and an upper layer of heavier grains and, on top, a load provides confinement. The segregation process is filmed through the transparent side-wall with a camera, and the evolution of particle concentration in space and time is evaluated by means of post-processing image analysis. We also propose a continuum-approach to model density-driven segregation. We use a segregation-diffusion transport equation, constitutive relations for effective viscosity and friction coefficient, and a segregation velocity analogous to the Stokes’ law. The model, which is validated by comparison with experimental findings, can successfully predict density-driven segregation at different density ratios and volumetric fraction.     

多约束下距离加权最优滑模末制导律

为解决多约束下制导炮弹的精确制导问题,采用带有相对距离权函数的最优滑模末制导律,将权函数引入到最优制导律中,通过改变制导炮弹的运动轨迹、运动时间,进而增强制导精度。针对单权函数难以同时满足制导精度与导引头视线角、过载等约束的问题,采用不同权函数的分段加权方法解决加权最优末制导引起的制导问题。结合滑模变结构控制理论,设计分段加权最优滑模末制导律,增强制导系统的抗干扰能力。仿真验证结果表明,该末制导律既能解决过载、导引头视线角、落角等多约束情况下的精确制导问题,同时又具有一定的鲁棒性。     

招平断裂带中段金矿床控矿条件与成矿规律研究

招平断裂带中段为胶东地区重要的金成矿带，目前已查明的金矿床主要包括夏甸大型金矿床和大尹格庄特大型金矿床，姜家窑和曹家洼中型金矿床，以及焦格庄小型金矿床。研究人员对招平断裂带中段各类金矿床的构造控矿条件、分布规律和矿体赋存规律仍缺乏较系统的认识，亟待开展进一步研究。通过对金矿区地质特征、金矿床地质特征、构造控矿特征和金矿成矿规律进行分析和总结，得出大尹格庄特大型金矿主要受招平主干断裂控制；夏甸大型金矿床主要受控于主干控矿断裂下盘伴生、派生的低级和低序次断裂，夏甸北耩矿体主要受控于主断裂下盘岩体局部张性显微裂隙带；招平断裂带中段大尹格庄特大型金矿床、夏甸特大型金矿床和焦格庄中、小型金矿床大致呈等间距分布，近EW向断裂与招平断裂的交会部位是有利成矿部位；断裂的拐弯或交会部位为主要赋矿部位。     

A Study on Dual-Load-Zone Model of Overlying Strata and Evolution Law of Mining Stress

The changeable structure and movement law of overlying strata are the main contributor to the change of mining stress. Starting from the relevant theory of key stratum and particularly based on the theory of mine ground pressure and strata control, this research proposed a new solution to mining stress problems by establishing a dual-load-zone stratum structural model. Elastic foundation beam theory was used to solve the stress of overlying strata of the dual-load-zones with superposition method, which revised the traditional calculation method of mining stress. The abnormal increase of lead abutment pressure in the mining area was explained effectively, through which the evolution law of mining stress in the case of hard rock was obtained. The results indicate that mining stress experiences a drastic change within the range of 50 m ahead of the coal wall due to the collapse of main roof; under the influence of main key stratum and inferior key strata, the influence range of lead abutment pressure is extended up to approximately 120 m in the working face; this remarkable increase can be attributed to the excessive length of sagging zone. Results from both the dual-load-zone model experiment and field measurement demonstrate high consistency. The model can predict the influence range of abutment pressure effectively and thus guide the safety production of mining.     

Enforceability of electronic contracts in light of the Ethiopian General Contract Law: appraising the issues

Modern information communication technologies, especially the Internet, have been extensively used in contracts. Yet laws which govern contractual relationships were passed at a time when Internet was unknown. Due to this fact, conventional contract laws empirically face significant challenges to address legal controversies arising from electronic contracts. In the same fashion, Ethiopian General Contract Law is unfit to accommodate legal controversies resulting from the occurrence of electronic contracts. The main legal challenges due to the development of electronic contracts are uncertainty regarding legal recognition of data messages, issues associated with consummation of consent, attribution of communications, input errors, time of contract formation, formality requirements, variation, notice of nonperformance, privity of contract, admissibility and parole evidence rule of electronic records. The above-underlined issues, which stem from the emergence of electronic contracts, are hardly addressed by our civil code. Therefore, this work is mainly meant to make a humble attempt to examine the appropriateness of the Ethiopian General Contract Law to accommodate technologically driven electronic contracts.     

Some picture fuzzy Bonferroni mean operators with their application to multicriteria decision making

In this paper, we extend the Bonferroni mean (BM) operator with the picture fuzzy numbers (PFNs) to propose novel picture fuzzy aggregation operators and demonstrate their application to multicriteria decision making (MCDM). On the basis of the algebraic operational rules of PFNs and BM, we introduce some aggregation operators: the picture fuzzy Bonferroni mean, the picture fuzzy normalized weighted Bonferroni mean, and the picture fuzzy ordered weighted Bonferroni mean. Then, a new picture fuzzy MCDM method is proposed with the help of the proposed operators. Lastly, a practical application of proposed model is given to verify the developed model and related results of the proposed model is compared with the results of the existing models to indicate its applicability.